diff --git a/src/motor_controller.cpp b/src/motor_controller.cpp
index c21df21..c06c513 100644
--- a/src/motor_controller.cpp
+++ b/src/motor_controller.cpp
@@ -27,11 +27,11 @@ inline float clamp(const float value, const float limit) {
 void MotorController::init() {
   motor_ = mot_driver[config_.driver_num].getDCMotor(config_.motor_num);
   motor_->init(PWM_21kHz);
-  motor_->setPolarity(!config_.reverse_polarity);
+  motor_->setPolarity(config_.reverse_polarity);
   motor_->setDriveMode(true);
   mot_driver[config_.driver_num].enable();
   encoder_ = &encoder[config_.driver_num * 2 + config_.motor_num];
-  encoder_->setPolarity(config_.reverse_polarity);
+  encoder_->setPolarity(!config_.reverse_polarity);
   encoder_->init();
 }